CN106374459B - A kind of the Active Disturbance Rejection Control system and control method of three-phase unified electric energy quality adjustor - Google Patents
A kind of the Active Disturbance Rejection Control system and control method of three-phase unified electric energy quality adjustor Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/01—Arrangements for reducing harmonics or ripples
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The invention discloses a kind of Active Disturbance Rejection Control system of three-phase unified electric energy quality adjustor and control methods, it is replaced with to DC bus capacitor both end voltage and voltage reference value progress Active Disturbance Rejection Control by the way that the difference of DC bus capacitor both end voltage and voltage reference value is carried out PI controls process, the Active Disturbance Rejection Control determines the quantity of state and disturbance quantity of three phase active electric power filter according to DC bus capacitor both end voltage and DC voltage reference value, and control electric current is generated to be fed back according to quantity of state and disturbance quantity.The Active Disturbance Rejection Control that the present invention uses, the accurate mathematical model of system is not depended on, non-linear factor, uncertain parameter and exterior disturbance for ignoring when during control by modeling etc. observe to come via extended state observer, and it is eliminated by feedback element, error caused by so as to avoid due to ignoring non-linear factor.
Description
Technical field
The present invention relates to a kind of Active Disturbance Rejection Control system of three-phase unified electric energy quality adjustor and control methods.
Background technology
It is increasingly extensive with the application of nonlinear load, electric network pollution problem getting worse.How power quality is improved, had
The problems such as imitating the harmonic wave inhibited in power grid, reactive power, disturbance, flickering, causes the extensive concern of researcher.Many scholars
A large amount of theoretical and experimental study has been carried out with expert, has been dedicated to researching and developing compensation device to solve power quality problem.
Power electronic equipment and other are solved by the way that compensation device is transformed or installed to power electronic equipment itself
The harmonic pollution problems of harmonic source.This kind of device has unity power factor converter, LC passive filters and active electric power filter
Wave device etc..
For voltage flicker caused by electric arc furnaces etc., Static Var Compensator can be installed and carry out comprehensive treatment, it is common quiet
Only reactive-load compensator have saturable reactor, thyristor-controlled reactor, thyristor switchable capacitor and they be used in mixed way
Device etc..
For Voltage Drop improvement there are mainly two types of method：First, failure cuts off rapidly the connection with fault point after occurring
System, while will be on load switching to another way supply line.In general, will be than machinery as switch using power electronic devices
Breaker speed is fast, and the main devices of this respect have solid circuit breaker, solid converting switch etc..Second is that being restored using dynamic electric voltage
Device, when Voltage Drop formula is compensated using the energy in energy-storage travelling wave tube.
However, with the increasingly complexity of electric network composition and electric load ingredient, several power quality problems are in same distribution
The case where occurring simultaneously in system or in same power load is more and more.For example, for existing electricity on same distribution bus
Sensitive load is pressed, and has nonlinear-load, also in the case of impact load, it is necessary to while voltage compensating device and electricity being installed
Flow compensation device.If a type of regulating device is all respectively adopted for each power quality problem, devices a variety of in this way
Simultaneously using the cost that will greatly increase control measures, it can also increase the complexity of device operation and maintenance, and each device
Between there is also cooperation problems, influence the reliability of cooperation, it is both uneconomical, it is also unrealistic.Comprehensive electric energy matter
Thus the research of quantity regulating device just generates.The red wooden Thai language of Japanese scholars has been put forward for the first time unified power quality in 1996 and has adjusted
The concept of device (Unified Power Quality Conditioner, UPQC).In such systems, a parallel converters
It is grouped together by public DC bus with a series converter, harmonic wave, reactive current caused by load can be compensated
Problem, and supply voltage can be compensated and rise sharply, rapid drawdown, asymmetry, dodge the power quality problems such as side, fluctuation, being one kind having synthesis
The electric energy regulator of function is the recent tendency of custom power technology development.
Current harmonics and reactive power caused by Research on Unified Power Quality Conditioner parallel connection side can be loaded with compensating non-linear, string
Connection side can compensate the temporary drop and harmonic wave of network voltage.The design parallel connection side uses double circle controling mode, which only to need to examine
The voltage and current for surveying grid side without detecting load current and compensation electric current, and need not carry out harmonic wave and idle extraction, calculate
Method is simple, it is easy to accomplish, it is more economical reliable.Series side respectively mutually uses simple univoltage ring control mode.To which three-phase is united
One electric energy regulator control system is as shown in Figure 1.
Although this control system has above-mentioned advantage, experiment to show its control effect, especially harmonic current managing effect simultaneously
It is undesirable, it is necessary to existing control method to be improved, to improve the voltage and current harmonic wave of Research on Unified Power Quality Conditioner
Rejection ability.
Invention content
The present invention is to solve the above-mentioned problems, it is proposed that a kind of Active Disturbance Rejection Control system of three-phase unified electric energy quality adjustor
System and control method, Auto Disturbances Rejection Control Technique of the present invention, do not depend on the accurate mathematical model of system, will be built during control
Non-linear factor, uncertain parameter and exterior disturbance for ignoring when mould etc. observe to come via extended state observer,
And it is eliminated by feedback element, error caused by so as to avoid due to ignoring non-linear factor.
To achieve the goals above, the present invention adopts the following technical scheme that：
A kind of Active Disturbance Rejection Control system of three-phase unified electric energy quality adjustor, side in parallel use double circle controling mode,
DC bus capacitor both end voltage and the difference of voltage reference value are carried out PI controls process to replace with to DC bus capacitor both ends electricity
Pressure and voltage reference value carry out Active Disturbance Rejection Control, and the Active Disturbance Rejection Control is according to DC bus capacitor both end voltage and DC voltage
Reference value determines the quantity of state and disturbance quantity of three phase active electric power filter, according to quantity of state and disturbance quantity generate control electric current with
It is fed back, the influence that the non-linear and external disturbance to eliminate three phase active electric power filter is brought.
A kind of Active Disturbance Rejection Control system of three-phase unified electric energy quality adjustor, specifically includes：
Automatic disturbance rejection controller is configured as acquisition DC bus capacitor both end voltage and voltage reference value, detects three-phase active
The quantity of state and disturbance quantity of electric-power filter, and according to the DC bus capacitor both end voltage, voltage reference value, quantity of state and disturb
Momentum output control electric current, the influence that the non-linear and external disturbance to eliminate three phase active electric power filter is brought；
Phaselocked loop is configured as detection grid side voltage phase phase, and generates the list with grid side voltage with frequency with phase
Position sine voltage signal；
Multiplier is configured as receiving the output valve of the one third and phaselocked loop of automatic disturbance rejection controller control electric current, obtain
To the reference value of grid side electric current；
Current comparator is configured as connecting with the output of grid side circuit and multiplier, by detecting grid side electric current
Actual value calculates the difference of grid side current actual value and grid side current reference value；
PWM drive circuit is configured as receiving the result of calculation of current comparator, and according to result of calculation determination and exports
Drive signal；
Parallel converters are configured as, by PWM drive circuit control action, being exported and being corresponded to load-side according to drive signal
Mutually compensation electric current；
Series converter is configured as connecting by public DC bus with parallel converters, and driven movement controller
Driving；
Drive control device is configured as phase transformer both end voltage reference value and phase transformer according to series converter side
Opposite ends voltage value determines the switching tube type of drive of series converter.
The automatic disturbance rejection controller includes extended state observer and observer feedback control loop, extended state observer
Acquisition control electric current and DC voltage actual value export the quantity of state and disturbance quantity of three phase active electric power filter；Observer
Feedback control loop acquires the quantity of state and disturbance quantity of DC voltage reference value and three phase active electric power filter, generates control
Current feedback is to extended state observer.
The current comparator includes current detector and electric current loop, and current detector detects grid side current actual value simultaneously
It exports to electric current loop, electric current loop is connected with the output of current detector and multiplier simultaneously, exports the reference value of grid side electric current
With the difference of grid side current actual value.
The parallel converters include PWM converter and in PWM converter both sides shunt capacitor.
A kind of control method based on above system, includes the following steps：
1) had to detect three-phase using Active Disturbance Rejection Control acquisition DC voltage actual value and voltage reference value in side in parallel
The quantity of state and disturbance quantity of active power filter, and according to the DC voltage actual value, voltage reference value, quantity of state and disturb
Momentum output control electric current, eliminates the influence that the non-linear and external disturbance of three phase active electric power filter is brought；
2) use phaselocked loop detect grid side voltage phase phase, and generate with grid side voltage with frequently with phase unit just
String voltage signal；
3) one third of the control electric current of step 1) is multiplied with unit sine voltage signal, obtains grid side electric current
Reference value；
4) grid side current actual value is detected, it is poor to make with the reference value of the grid side electric current, obtains the difference of the two, meter
Drive signal is calculated, and three phase active electric power filter main circuit is driven to export the compensation electric current for corresponding to phase to load-side.
The Active Disturbance Rejection Control includes：Extended state observer and observer feedback control loop, extended state observer
Acquisition control electric current and DC voltage actual value export the quantity of state and disturbance quantity of three phase active electric power filter；Observer
Feedback control loop acquires the quantity of state and disturbance quantity of DC voltage reference value and three phase active electric power filter, generates control
Current feedback is to extended state observer.
The extended state observer setting control parameter b0With high-gain adjusting parameter ε, observation output three-phase active electricity
The control of the quantity of state and disturbance quantity of force filter, the controlled three phase active electric power filter of value satisfaction of the control parameter is wanted
It asks, the value of the high-gain adjusting parameter meets the stability requirement of extended state observer.
The observer feedback control loop setting control parameter b0, proportional gain parameter Kp and storage gain parameter KI,
Generate control electric current；The value of control parameter meets the control requirement for being controlled three phase active electric power filter, proportional gain parameter
Value meets the feedback time requirement of observer feedback control loop, and storage gain parameter value meets observer feedback control simultaneously
The requirement of circuit feedback time and feedback stability processed.
Beneficial effects of the present invention are：
(1) Active Disturbance Rejection Control used, does not depend on the accurate mathematical model of system, is neglected when during control by modeling
Non-linear factor slightly, uncertain parameter and exterior disturbance etc. observe to come via extended state observer, and pass through
Feedback element is eliminated, error caused by so as to avoid due to ignoring non-linear factor；
(2) current on line side percent harmonic distortion is significantly reduced, control performance is improved, greatly improves three-phase active
The dynamic property of electric-power filter improves the harmonic inhibition capability of three phase active electric power filter；
(3) Unmarried pregnancy and external disturbance etc. are uncertain inside estimating system, avoid due to ignoring non-linear factor
Caused by error.
Description of the drawings
Fig. 1 is existing three-phase unified electric energy quality adjustor control system schematic diagram；
Fig. 2 is automatic disturbance rejection controller structural schematic diagram；
Fig. 3 is the automatic disturbance rejection controller structural schematic diagram of the present invention；
Fig. 4 is the Active Disturbance Rejection Control system schematic of the three-phase unified electric energy quality adjustor of the present invention；
Fig. 5 is the current on line side schematic diagram under PI control systems；
Fig. 6 is the current on line side schematic diagram under Active Disturbance Rejection Control system；
Fig. 7 is the load voltage schematic diagram under PI control systems；
Fig. 8 is the load voltage schematic diagram under Active Disturbance Rejection Control system.
Specific implementation mode：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Current harmonics and reactive power caused by Research on Unified Power Quality Conditioner parallel connection side can be loaded with compensating non-linear, string
Connection side can compensate the temporary drop and harmonic wave of network voltage.The design parallel connection side uses double circle controling mode, which only to need to examine
The voltage and current for surveying grid side without detecting load current and compensation electric current, and need not carry out harmonic wave and idle extraction, calculate
Method is simple, it is easy to accomplish, it is more economical reliable.Series side respectively mutually uses simple univoltage ring control mode.To which three-phase is united
One electric energy regulator control system is as shown in Figure 1.
Wherein, VdcIt is DC bus capacitor both end voltage, VdcrefIt is DC voltage reference value, vsa(bc)It is A (B, C) mutually electricity
Net voltage, isa(bc)It is A (B, C) phase grid side electric current, isa(bc)refIt is A (B, C) phase current on line side reference value, iLa(bc)Be A (B,
C) phase load electric current, ica(bc)It is that side A (B, C) in parallel mutually compensates electric current, vLa(bc)refIt is A (B, C) phase desired load Voltage Reference
Value, dua(bc)refIt is A (B, C) phase transformer both end voltage reference value, dua(bc)It is A (B, C) phase transformer both end voltage, iua(bc)
It is series side A (B, C) phase output current.
Although this control system has above-mentioned advantage, experiment to show its control effect, especially harmonic current managing effect simultaneously
It is undesirable, it is necessary to existing control method to be improved, to improve the voltage and current harmonic wave of Research on Unified Power Quality Conditioner
Rejection ability.In order to solve the problems, such as, realizes target, introduce Auto Disturbances Rejection Control Technique.
Automatic disturbance rejection controller and is absorbed based on the self-examination for depending on system mathematic model too much to modern control theory
The thought marrow of PID control and a kind of control method not depending on system accurate model proposed, can be used for processing system
The problems such as non-linear, big uncertain and external disturbance.
Automatic disturbance rejection controller is made of three key links：Nonlinear Tracking Differentiator, extended state observer and based on expansion shape
The feedback control of state observer, as shown in Figure 2.
Nonlinear Tracking Differentiator is in order to which D is unable to the limitation of physics realization and proposes in advanced PID control.Because in many
In the case of, the D in PID is not easy to directly measure or directly measurement cost is too big, while classical difference method is dirty in extraction noise
Noise would generally be amplified when the differential for contaminating signal, PID control is PI controls in fact in many cases.Nonlinear Tracking Differentiator pair
The robustness of noise pollution can overcome this defect.
Extended state observer is the popularization of normal state observer.The difference is that common observer is to pass through to be
The partial status of output of uniting estimates remaining state, and extended state observer then not only can be with the state of estimating system, can be with
Unmarried pregnancy and external disturbance etc. are uncertain inside estimating system.This is the source of extended state observer title, simultaneously
Also explain why automatic disturbance rejection controller is independent of accurate mathematical model to a certain extent.
The Active Disturbance Rejection Control that the design uses, does not depend on the accurate mathematical model of system, will modeling during control
When ignore non-linear factor, uncertain parameter and exterior disturbance etc. via extended state observer observe come, and
It is eliminated by feedback element, error caused by so as to avoid due to ignoring non-linear factor.
The Active Disturbance Rejection Control of three-phase unified electric energy quality adjustor：
According to the relationship between DC side and two converter output currents, can obtain
Wherein SPa(bc)、SSa(bc)Side respectively in parallel and each phase switch function of series side, f are the disturbances such as non-linear factor,
Abbreviation can obtain
In formula, u is measured in order to control, and parameter, ω are that system always disturbs to b in order to control.
Since DC voltage reference value is a constant, to save Nonlinear Tracking Differentiator in the design process.Expansion state
Design of Observer is:
Wherein, the nominal value b of control parameter0Value is 1000, high-gain adjusting parameter ε=0.01.
Feedback Control Design based on observer is：
Wherein, kp=0.12, kI=0.12.So far, Active Disturbance Rejection Control system design is completed.Three-phase unified electric energy quality tune
The Active Disturbance Rejection Control system for saving device is as shown in Figure 4.
In order to verify the practicability of the design, tested in MATLAB emulation platforms.Device parameter is：Electric network source
380V, 50Hz AC power load and do not control full bridge rectifier for three-phase, and 10000 μ F of DC bus capacitor, side in parallel respectively mutually filters
Inductance 3mH, each phase filter inductance 3mH of series side.
Experimental result is as shown in Figure 5-Figure 8, when load is nonlinear load and network voltage falls and distorts, warp
After the Research on Unified Power Quality Conditioner processing of the software, the total harmonic distortion factor (THD) of current on line side is by original
3.11% is reduced to 1.52%, and the THD of load voltage is reduced to 0.98% by original 2.11%.Active Disturbance Rejection Control system uses pole
The earth improves the harmonic wave control ability of Research on Unified Power Quality Conditioner.
Side in parallel uses two close cycles, series side respectively mutually to be calculated using the three-phase phase Research on Unified Power Quality Conditioner of single closed-loop control
Method is simple, is easily achieved, economic and reliable, but its DC side uses traditional PI controllers so that control effect is not ideal enough.Needle
To this problem, the Active Disturbance Rejection Control system of three-phase unified electric energy quality adjustor is devised, ideal control effect has been reached：
It is nonlinear load in load, and when network voltage falls and distorts, by using the unified power quality tune of the design
After saving device processing, the total harmonic distortion factor (THD) of current on line side is reduced to 1.52% by original 3.11%, the THD of load voltage
It is reduced to 0.98% by original 2.11%.The use of Active Disturbance Rejection Control system greatly improves Research on Unified Power Quality Conditioner
Harmonic wave control ability.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (8)
1. a kind of Active Disturbance Rejection Control system of three-phase unified electric energy quality adjustor, side in parallel uses double circle controling mode, will
DC voltage actual value and the difference of voltage reference value carry out PI controls process and replace with to DC voltage actual value and electricity
Reference value is pressed to carry out Active Disturbance Rejection Control, the Active Disturbance Rejection Control is true according to DC voltage actual value and DC voltage reference value
The quantity of state and disturbance quantity for determining three-phase unified electric energy quality adjustor generate control electric current to carry out according to quantity of state and disturbance quantity
Feedback, the influence that the non-linear and external disturbance to eliminate three-phase unified electric energy quality adjustor is brought, it is characterized in that：Specific packet
It includes：
Automatic disturbance rejection controller is configured as acquisition DC voltage actual value and voltage reference value, detects three-phase unified electric energy matter
The quantity of state and disturbance quantity of adjuster are measured, and according to the DC voltage actual value, voltage reference value, quantity of state and disturbance quantity
Output control electric current, the influence that the non-linear and external disturbance to eliminate three-phase unified electric energy quality adjustor is brought；
Phaselocked loop, be configured as detection grid side voltage phase phase, and generate with grid side voltage with frequently with phase unit just
String voltage signal；
Multiplier is configured as receiving the output valve of the one third and phaselocked loop of automatic disturbance rejection controller control electric current, obtains electricity
The reference value of current on line side；
Current comparator is configured as connecting with the output of grid side circuit and multiplier, practical by detecting grid side electric current
Value calculates the difference of grid side current actual value and grid side current reference value；
PWM drive circuit is configured as receiving the result of calculation of current comparator, and determines simultaneously output driving according to result of calculation
Signal；
Parallel converters, are configured as by PWM drive circuit control action, and corresponding mutually benefit is exported to load-side according to drive signal
Repay electric current；
Series converter is configured as connecting by public DC bus with parallel converters, and driven movement controller drives；
Drive control device is configured as being corresponded to according to the phase transformer both end voltage reference value and phase transformer of series converter side
Both end voltage value determines the switching tube type of drive of series converter.
2. a kind of Active Disturbance Rejection Control system of three-phase unified electric energy quality adjustor as described in claim 1, it is characterized in that：Institute
It includes extended state observer and observer feedback control loop, extended state observer acquisition control electricity to state automatic disturbance rejection controller
Stream and DC voltage actual value export the quantity of state and disturbance quantity of three-phase unified electric energy quality adjustor；Observer feedback control
The quantity of state and disturbance quantity of circuit acquisition DC voltage reference value and three-phase unified electric energy quality adjustor processed, generate control electricity
Stream feeds back to extended state observer.
3. a kind of Active Disturbance Rejection Control system of three-phase unified electric energy quality adjustor as described in claim 1, it is characterized in that：Institute
It includes current detector and electric current loop to state current comparator, and current detector detects grid side current actual value and exports to electric current
Ring, electric current loop are connected with the output of current detector and multiplier simultaneously, export the reference value and grid side electricity of grid side electric current
Flow the difference of actual value.
4. a kind of Active Disturbance Rejection Control system of three-phase unified electric energy quality adjustor as described in claim 1, it is characterized in that：Institute
It includes PWM converter and in PWM converter both sides shunt capacitor to state parallel converters.
5. a kind of control method based on the system as described in any one of claim 1-4, it is characterized in that：Including following step
Suddenly：
1) in side in parallel using Active Disturbance Rejection Control acquisition DC voltage actual value and voltage reference value, to detect the unified electricity of three-phase
The quantity of state and disturbance quantity of energy quality adjustor, and according to the DC voltage actual value, voltage reference value, quantity of state and disturb
Momentum output control electric current, eliminates the influence that the non-linear and external disturbance of three-phase unified electric energy quality adjustor is brought；
2) it uses phaselocked loop to detect grid side voltage phase phase, and generates the sinusoidal electricity of unit with grid side voltage with frequency with phase
Press signal；
3) one third of the control electric current of step 1) is multiplied with unit sine voltage signal, obtains the reference of grid side electric current
Value；
4) grid side current actual value is detected, it is poor to make with the reference value of the grid side electric current, obtains the difference of the two, calculates and drive
Dynamic signal, and three-phase unified electric energy quality adjustor main circuit is driven to export the compensation electric current for corresponding to phase to load-side.
6. control method as claimed in claim 5, it is characterized in that：The Active Disturbance Rejection Control includes：Extended state observer and
Observer feedback control loop, extended state observer acquisition control electric current and DC voltage actual value, output three-phase are unified
The quantity of state and disturbance quantity of electric energy regulator；Observer feedback control loop acquires DC voltage reference value and three-phase system
The quantity of state and disturbance quantity of one electric energy regulator generate control current feedback to extended state observer.
7. control method as claimed in claim 6, it is characterized in that：The extended state observer setting control parameter b0And height
Gain tuning parameter ε, the quantity of state and disturbance quantity of observation output three-phase unified electric energy quality adjustor, the control parameter take
Value meets the control requirement for being controlled three-phase unified electric energy quality adjustor, and the value of the high-gain adjusting parameter meets expansion shape
The stability requirement of state observer.
8. control method as claimed in claim 6, it is characterized in that：The observer feedback control loop setting control parameter b0、
Proportional gain parameter Kp and storage gain parameter KI generates control electric current；The value of control parameter, which meets, is controlled the unified electricity of three-phase
The control requirement of energy quality adjustor, proportional gain parameter value meet the feedback time requirement of observer feedback control loop,
Storage gain parameter value meets the requirement of observer feedback control loop feedback time and feedback stability simultaneously.
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| CN107193211B (en) * | 2017-05-11 | 2020-02-07 | 南京邮电大学 | Single-arm manipulator controller based on active disturbance rejection and inversion technology and design method thereof |
| CN107706944B (en) * | 2017-12-04 | 2023-06-09 | 河南城建学院 | Device for inhibiting disturbance of inverter parallel system |
| CN111864720B (en) * | 2019-04-30 | 2022-06-07 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Dynamic response lifting control system and control method for storage battery energy storage system |
| CN111884235B (en) * | 2020-08-05 | 2021-12-07 | 珠海万力达电气自动化有限公司 | Control method of dynamic voltage restorer |
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